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提出用大系统理论进行复杂的机器人力控制研究，介绍了与之相应的智能力／位并环控制新策略，针对力控制中未知环境约束运动的特点，详述了力控制大系统智能新策略中核心：根据腕力传感器输出的三维力，考虑摩擦力的影响，推导了动态求解机器人终端与环境接触点的法向——力控方向和切向——位控方向的公式，从而建立了基于力反馈的运动学模型，有效解决了长期遗留的未知环境约束运动中的难题。
In this paper, the research of complex robotic force control using large-system theory is presented. The corresponding new strategy of intelligence / bit-and-loop control is introduced. According to the characteristics of restrained motion of unknown environment in force control, In the middle of the core, the formulas of the normal-force control direction and the tangential-control direction for solving the robot’s dynamic contact point with the environment are deduced according to the three-dimensional force output by the wrist force sensor and the influence of friction. The kinematic model of force feedback effectively solves the difficult problem of unknown environmental restraint movement left over for a long time.